轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

水下图像处理技术研究综述

随着自主式水下机器人的发展，水下探测技术成为新的研究热点。然而，吸收效应和散射效应导致水下获取的图像存在雾化和色彩偏差等缺陷。降质的水下图像在一定程度上降低了水下目标识别的准确性。为了改善水下图像质量，国内外学者对水下图像处理方法进行了深入研究。因水下图像处理方法对提升水下目标识别准确性具有良好的促进作用，故其具有重要的研究与分析价值。介绍了水下成像模型，分析了水下图像视觉质量下降的原理；根据水下物理成像模型将水下图像处理方法分为水下图像增强与水下图像复原，并分别对两类方法的研究现状进行分析与归纳；最后，总结与讨论了各类方法的优缺点，并展望了未来的发展方向。     

Multi-objective particle swarm optimisation based integrated production inventory routing planning for efficient perishable food logistics operations

Sustainable and efficient food supply chain has become an essential component of one’s life. The model proposed in this paper is deeply linked to people's quality of life as a result of which there is a large incentive to fulfil customer demands through it. This proposed model can enhance food quality by making the best possible food quality accessible to customers, construct a sustainable logistics system considering its environmental impact and ensure the customer demand to be fulfilled as fast as possible. In this paper, an extended model is examined that builds a unified planning problem for efficient food logistics operations where four important objectives are viewed: minimising the total expense of the system, maximising the average food quality along with the minimisation of the amount of CO₂ emissions in transportation along with production and total weighted delivery lead time minimisation. A four objective mixed integer linear programming model for intelligent food logistics system is developed in the paper. The optimisation of the formulated mathematical model is proposed using a modified multi-objective particle swarm optimisation algorithm with multiple social structures: MO-GLNPSO (Multi-Objective Global Local Near-Neighbour Particle Swarm Optimisation). Computational results of a case study on a given dataset as well as on multiple small, medium and large-scale datasets followed by sensitivity analysis show the potency and effectiveness of the introduced method. Lastly, there has been a scope for future study displayed which would lead to the further progress of these types of models.     

基于MFSK的多载波水声通信系统及实验研究

本文在深入研究水声通信信道特性及多载波关键技术的基础上,设计并研制了基于M FSK的高速自适应多载波水声通信系统,并进行了湖上实验。理论分析、仿真及湖上试验结果表明:基于M FSK的多载波水声通信系统,多径抑制有效,对同步的精确度要求不高,性能稳健,更适合于恶劣水声通信环境下、中距离(10~30km)较高数据率多载波通信系统,易于工程实现,具有良好的应用前景。     

Controlled elements for designing ciphers suitable to efficient VLSI implementation

This work considers the problem of increasing the performance of the ciphers based on Data-Dependent (DD) operations (DDO) for VLSI implementations. New minimum size primitives are proposed to design DDOs. Using advanced DDOs instead of DD permutations (DDP) in the DDP-based iterative ciphers Cobra-H64 and Cobra-H128 the number of rounds has been significantly reduced yielding enhancement of the “performance per cost” value and retaining security at the level of indistinguishability from a random transformation. To obtain further enhancement of this parameter a new crypto-scheme based on the advanced DDOs is proposed. The FPGA implementation of the proposed crypto-scheme achieves higher throughput value and minimizes the allocated resources than the conventional designs. Design of the DDO boxes of different orders is considered and their ASIC implementation is estimated.     

水下航行体专用光纤的特性

着重论述水下航行体线控专用光纤的特殊性及其应用特点．并对其发展作了展望。     

激光水下成像技术及其进展

介绍了近年发展起来的三种主要的激光水下成像方法，即常规水下激光成像、高分辨率水下激光三维成像和偏振激光成像，分析了它们各自的工作原理、特点以及各自的发展状况。     

絮凝剂品种对水下不分散混凝土性能影响的比较

通过电荷中和、吸附架桥和表面吸附分析了絮凝剂作用机理 ,运用絮凝机理进一步分析了絮凝剂在水泥体系中的作用以及絮凝剂对流动度的影响 ,从而对掺加JHP (纤维素类 )和Pj (丙烯类 )絮凝剂的水下不分散混凝土性能作了综合比较。掺Pj絮凝剂的混凝土 ,其坍扩度损失大 ,抗分散性能不如掺JHP絮凝剂的好 ;掺JHP絮凝剂的混凝土坍扩度在 3h内损失很小     

恒定水深拖拉铺管管线的三维大挠度静态应力分析

海洋管线具有复杂的工程结构,在恶劣的海洋环境中,承受着比陆地管线更为复杂的载荷。为了保证管线安全工作,需对其进行准确的应力分析。本文应用有限元法对恒定水深拖拉铺管的管线内力、应力及位移进行了计算,并将结果与已有的计算结果进行对比,进一步分析了各种海洋环境因素对管线弯曲效应的影响,取得了有一定实用性的成果,可供海洋拖拉铺管施工时参考。     

Efficient similarity-based operations for data integration

Dealing with discrepancies in data is still a big challenge in data integration systems. The problem occurs both during eliminating duplicates from semantic overlapping sources as well as during combining complementary data from different sources. Though using SQL operations like grouping and join seems to be a viable way, they fail if the attribute values of the potential duplicates or related tuples are not equal but only similar by certain criteria. As a solution to this problem, we present in this paper similarity-based variants of grouping and join operators. The extended grouping operator produces groups of similar tuples, the extended join combines tuples satisfying a given similarity condition. We describe the semantics of this operator, discuss efficient implementations for the edit distance similarity and present evaluation results. Finally, we give examples of application from the context of a data reconciliation project for looted art.